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<p><code>#include &lt;<a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>&gt;</code></p>
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<tr class="memitem:a5d04848d6584e59e862974a7ae751ece"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d9/d28/struct_gait_data.html#a5d04848d6584e59e862974a7ae751ece">zero</a> ()</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
struct GaitData&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00033">33</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>
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template&lt;typename T&gt; </div>
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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::<a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a> </td>
          <td>(</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00035">35</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;{ <a class="code" href="../../d9/d28/struct_gait_data.html#a5d04848d6584e59e862974a7ae751ece">zero</a>(); }</div><div class="ttc" id="struct_gait_data_html_a5d04848d6584e59e862974a7ae751ece"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a5d04848d6584e59e862974a7ae751ece">GaitData::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/daa/_gait_scheduler_8cpp_source.html#l00013">GaitScheduler.cpp:13</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td>(</td>
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<p>Definition at line <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html#l00013">13</a> of file <a class="el" href="../../db/daa/_gait_scheduler_8cpp_source.html">GaitScheduler.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;                       {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">// Stop any gait transitions</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a3091eb8b2074cd3634a0ca4b765272a5">_nextGait</a> = <a class="code" href="../../d9/d28/struct_gait_data.html#a1a6d7a7a9ae6cedcdde67e8f44aec8e3">_currentGait</a>;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  <span class="comment">// General Gait descriptors</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#aeb60c069566b4d3946193252c86f4731">periodTimeNominal</a> = 0.0;      <span class="comment">// overall period time to scale</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#aaeeba6320841f2197611a2eafb11e0a3">initialPhase</a> = 0.0;           <span class="comment">// initial phase to offset</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a3e94492b83de5dfff7adbd9e3d459c07">switchingPhaseNominal</a> = 0.0;  <span class="comment">// nominal phase to switch contacts</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="comment">// Enable flag for each foot</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#add0c9a932db0d19643136306c5f9656f">gaitEnabled</a> = Eigen::Vector4i::Zero();  <span class="comment">// enable gaint controlled legs</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="comment">// Time based descriptors</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#ad78a18fb241f784d34814048c59042d7">periodTime</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();           <span class="comment">// overall gait period time</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a5ccf174a71b0db575678bef2001b2b5b">timeStance</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();           <span class="comment">// total stance time</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#acb0a2921bfabe0af9167aa54e5e530f5">timeSwing</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();            <span class="comment">// total swing time</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a82fdfdcabbadc544098e48afa7376102">timeStanceRemaining</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();  <span class="comment">// stance time remaining</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a5bf6283a57cfaa9a6cfa81c993501ae1">timeSwingRemaining</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();   <span class="comment">// swing time remaining</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <span class="comment">// Phase based descriptors</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#aa05dac9d12c7438c47a04637ec22b9a3">switchingPhase</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();  <span class="comment">// phase to switch to swing</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a960a25f46080a2d25abaf5401a48a52b">phaseVariable</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();   <span class="comment">// overall gait phase for each foot</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a197fda5994e8ee758412fea8a9f7e6ab">phaseOffset</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();     <span class="comment">// nominal gait phase offsets</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#add9f8e23e0fc27743a2a5ae423177a3d">phaseScale</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();      <span class="comment">// phase scale relative to variable</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a56e7de32efd93bc39224e607e0d2ba6d">phaseStance</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();     <span class="comment">// stance subphase</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a773bfe95a76b2654665b4326bf826d6f">phaseSwing</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4&lt;T&gt;::Zero</a>();      <span class="comment">// swing subphase</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// Scheduled contact states</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#ac4110d976fc64261b1056ca00dc42d6d">contactStateScheduled</a> = Eigen::Vector4i::Zero();  <span class="comment">// contact state of the foot</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#abe8407729e50c8e324ea6e10f5ca4eeb">contactStatePrev</a> =</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      Eigen::Vector4i::Zero();  <span class="comment">// previous contact state of the foot</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a43fb8805cf329a610d8142c667b24cc8">touchdownScheduled</a> = Eigen::Vector4i::Zero();  <span class="comment">// scheduled touchdown flag</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a3bc3e900d98746913452eb4f0fd65019">liftoffScheduled</a> = Eigen::Vector4i::Zero();    <span class="comment">// scheduled liftoff flag</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">// Position of the feet in the world frame at events</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#ac4a83dfdb9b0bde71b57c7a274339b4c">posFootTouchdownWorld</a> =</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34&lt;T&gt;::Zero</a>();  <span class="comment">// foot position when scheduled to lift off</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="../../d9/d28/struct_gait_data.html#a3f1b6aef189eceb4771cbe18a3477ad8">posFootLiftoffWorld</a> =</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      <a class="code" href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34&lt;T&gt;::Zero</a>();  <span class="comment">// foot position when scheduled to touchdown</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div><div class="ttc" id="struct_gait_data_html_a5ccf174a71b0db575678bef2001b2b5b"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a5ccf174a71b0db575678bef2001b2b5b">GaitData::timeStance</a></div><div class="ttdeci">Vec4&lt; T &gt; timeStance</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00059">GaitScheduler.h:59</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3bc3e900d98746913452eb4f0fd65019"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3bc3e900d98746913452eb4f0fd65019">GaitData::liftoffScheduled</a></div><div class="ttdeci">Eigen::Vector4i liftoffScheduled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00076">GaitScheduler.h:76</a></div></div>
<div class="ttc" id="struct_gait_data_html_a773bfe95a76b2654665b4326bf826d6f"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a773bfe95a76b2654665b4326bf826d6f">GaitData::phaseSwing</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseSwing</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00070">GaitScheduler.h:70</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3f1b6aef189eceb4771cbe18a3477ad8"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3f1b6aef189eceb4771cbe18a3477ad8">GaitData::posFootLiftoffWorld</a></div><div class="ttdeci">Mat34&lt; T &gt; posFootLiftoffWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00079">GaitScheduler.h:79</a></div></div>
<div class="ttc" id="struct_gait_data_html_add9f8e23e0fc27743a2a5ae423177a3d"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#add9f8e23e0fc27743a2a5ae423177a3d">GaitData::phaseScale</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseScale</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00068">GaitScheduler.h:68</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a9a619c10ca4afba68f09ef05ab2364c6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a9a619c10ca4afba68f09ef05ab2364c6">Mat34</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 3, 4 &gt; Mat34</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00086">cppTypes.h:86</a></div></div>
<div class="ttc" id="struct_gait_data_html_a197fda5994e8ee758412fea8a9f7e6ab"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a197fda5994e8ee758412fea8a9f7e6ab">GaitData::phaseOffset</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseOffset</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00067">GaitScheduler.h:67</a></div></div>
<div class="ttc" id="struct_gait_data_html_add0c9a932db0d19643136306c5f9656f"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#add0c9a932db0d19643136306c5f9656f">GaitData::gaitEnabled</a></div><div class="ttdeci">Eigen::Vector4i gaitEnabled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00055">GaitScheduler.h:55</a></div></div>
<div class="ttc" id="struct_gait_data_html_ac4a83dfdb9b0bde71b57c7a274339b4c"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#ac4a83dfdb9b0bde71b57c7a274339b4c">GaitData::posFootTouchdownWorld</a></div><div class="ttdeci">Mat34&lt; T &gt; posFootTouchdownWorld</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00080">GaitScheduler.h:80</a></div></div>
<div class="ttc" id="struct_gait_data_html_a43fb8805cf329a610d8142c667b24cc8"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a43fb8805cf329a610d8142c667b24cc8">GaitData::touchdownScheduled</a></div><div class="ttdeci">Eigen::Vector4i touchdownScheduled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00075">GaitScheduler.h:75</a></div></div>
<div class="ttc" id="struct_gait_data_html_a5bf6283a57cfaa9a6cfa81c993501ae1"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a5bf6283a57cfaa9a6cfa81c993501ae1">GaitData::timeSwingRemaining</a></div><div class="ttdeci">Vec4&lt; T &gt; timeSwingRemaining</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00062">GaitScheduler.h:62</a></div></div>
<div class="ttc" id="struct_gait_data_html_a56e7de32efd93bc39224e607e0d2ba6d"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a56e7de32efd93bc39224e607e0d2ba6d">GaitData::phaseStance</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseStance</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00069">GaitScheduler.h:69</a></div></div>
<div class="ttc" id="struct_gait_data_html_acb0a2921bfabe0af9167aa54e5e530f5"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#acb0a2921bfabe0af9167aa54e5e530f5">GaitData::timeSwing</a></div><div class="ttdeci">Vec4&lt; T &gt; timeSwing</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00060">GaitScheduler.h:60</a></div></div>
<div class="ttc" id="struct_gait_data_html_ac4110d976fc64261b1056ca00dc42d6d"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#ac4110d976fc64261b1056ca00dc42d6d">GaitData::contactStateScheduled</a></div><div class="ttdeci">Eigen::Vector4i contactStateScheduled</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00073">GaitScheduler.h:73</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a738072d0d6a7a632be68f6261501826b"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 1 &gt; Vec4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00030">cppTypes.h:30</a></div></div>
<div class="ttc" id="struct_gait_data_html_aaeeba6320841f2197611a2eafb11e0a3"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#aaeeba6320841f2197611a2eafb11e0a3">GaitData::initialPhase</a></div><div class="ttdeci">T initialPhase</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00051">GaitScheduler.h:51</a></div></div>
<div class="ttc" id="struct_gait_data_html_a82fdfdcabbadc544098e48afa7376102"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a82fdfdcabbadc544098e48afa7376102">GaitData::timeStanceRemaining</a></div><div class="ttdeci">Vec4&lt; T &gt; timeStanceRemaining</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00061">GaitScheduler.h:61</a></div></div>
<div class="ttc" id="struct_gait_data_html_a1a6d7a7a9ae6cedcdde67e8f44aec8e3"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a1a6d7a7a9ae6cedcdde67e8f44aec8e3">GaitData::_currentGait</a></div><div class="ttdeci">GaitType _currentGait</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00041">GaitScheduler.h:41</a></div></div>
<div class="ttc" id="struct_gait_data_html_aeb60c069566b4d3946193252c86f4731"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#aeb60c069566b4d3946193252c86f4731">GaitData::periodTimeNominal</a></div><div class="ttdeci">T periodTimeNominal</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00050">GaitScheduler.h:50</a></div></div>
<div class="ttc" id="struct_gait_data_html_ad78a18fb241f784d34814048c59042d7"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#ad78a18fb241f784d34814048c59042d7">GaitData::periodTime</a></div><div class="ttdeci">Vec4&lt; T &gt; periodTime</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00058">GaitScheduler.h:58</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3091eb8b2074cd3634a0ca4b765272a5"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3091eb8b2074cd3634a0ca4b765272a5">GaitData::_nextGait</a></div><div class="ttdeci">GaitType _nextGait</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00044">GaitScheduler.h:44</a></div></div>
<div class="ttc" id="struct_gait_data_html_aa05dac9d12c7438c47a04637ec22b9a3"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#aa05dac9d12c7438c47a04637ec22b9a3">GaitData::switchingPhase</a></div><div class="ttdeci">Vec4&lt; T &gt; switchingPhase</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00065">GaitScheduler.h:65</a></div></div>
<div class="ttc" id="struct_gait_data_html_a3e94492b83de5dfff7adbd9e3d459c07"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a3e94492b83de5dfff7adbd9e3d459c07">GaitData::switchingPhaseNominal</a></div><div class="ttdeci">T switchingPhaseNominal</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00052">GaitScheduler.h:52</a></div></div>
<div class="ttc" id="struct_gait_data_html_abe8407729e50c8e324ea6e10f5ca4eeb"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#abe8407729e50c8e324ea6e10f5ca4eeb">GaitData::contactStatePrev</a></div><div class="ttdeci">Eigen::Vector4i contactStatePrev</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00074">GaitScheduler.h:74</a></div></div>
<div class="ttc" id="struct_gait_data_html_a960a25f46080a2d25abaf5401a48a52b"><div class="ttname"><a href="../../d9/d28/struct_gait_data.html#a960a25f46080a2d25abaf5401a48a52b">GaitData::phaseVariable</a></div><div class="ttdeci">Vec4&lt; T &gt; phaseVariable</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d3f/_gait_scheduler_8h_source.html#l00066">GaitScheduler.h:66</a></div></div>
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<h2 class="groupheader">Member Data Documentation</h2>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00041">41</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00044">44</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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template&lt;typename T&gt; </div>
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          <td class="memname">Eigen::Vector4i <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::contactStatePrev</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00074">74</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00073">73</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00055">55</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname">std::string <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::gaitName</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00047">47</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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template&lt;typename T&gt; </div>
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          <td class="memname">T <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::initialPhase</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00051">51</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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template&lt;typename T&gt; </div>
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          <td class="memname">Eigen::Vector4i <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::liftoffScheduled</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00076">76</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::periodTime</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00058">58</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::periodTimeNominal</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00050">50</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00067">67</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00068">68</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::phaseStance</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00069">69</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::phaseSwing</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00070">70</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::phaseVariable</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00066">66</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00079">79</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00080">80</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::switchingPhase</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00065">65</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::switchingPhaseNominal</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00052">52</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::timeStance</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00059">59</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00061">61</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::timeSwing</td>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00060">60</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a738072d0d6a7a632be68f6261501826b">Vec4</a>&lt;T&gt; <a class="el" href="../../d9/d28/struct_gait_data.html">GaitData</a>&lt; T &gt;::timeSwingRemaining</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00062">62</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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template&lt;typename T&gt; </div>
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<p>Definition at line <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html#l00075">75</a> of file <a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a>.</p>

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<hr/>The documentation for this struct was generated from the following files:<ul>
<li><a class="el" href="../../d0/d3f/_gait_scheduler_8h_source.html">GaitScheduler.h</a></li>
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